Real-time Odometry-less 3D LiDAR SLAM with Generalized ICP and Pose-Graph Optimization (Long Ver.)
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- Опубликовано: 11 сен 2024
- A research project in progress in our lab. This project is going for development of real-time lidar based SLAM for smart mobility.
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Mobile Robotics Research Team (MR2T) @ AIST
Twitter: / mr2t_aist
Webpage: unit.aist.go.j...
Very nice. The last minute looks even greater than the rest. I love to see the model moving thanks to loop closure.
Hi ~ couple of questions,
What is the lidar used and is the method opensource?
Have you publish the paper about this method or open-source the code ?
Woww looks awesome. I am also starting out on my work for 3d lidar SLAM. I already have experience with 2D version. Would you be kind enough to share some details ? Any paper or relevant literature you followed ?
What does 2d experience mean? Single-line or multi-line mapping? 3d slam You can refer to lego-loam or hdl-slam
Did you use imu for attitude compensation?
Nice work. I want to know what does 'odometry-less' mean? Does it mean that odometry is provided by other modules and lidar is only responsible for mapping?
I guess this means the odometry comes from the sequential lidar point cloud registration
It means there is no odometry(relative-pose) factor in the factor graph but directly using scan matching cost.@@rubensleite5838
is this the same tech as GEOSLAM?
at 7:40 it seems to correct itself, can anyone explain what happened?
You can search for "loop closure SLAM" to have some more details
Hi, impressive video and technology. Can you please send me a step by step tutorial of how to achieve this?